Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each Channel's Nonlinear Controllers Design

Table 1

Formulation notations.

𝐹𝑋,𝐹𝑌,𝐹𝑍	The external forces
𝐿,𝑀,𝑁	The external moments
(𝑢,𝑣,𝑤)	The translational velocities
𝑝,𝑞,𝑟	The rotational velocities (angular velocities)
𝜙,𝜃,𝜓	The rotational angles (Roll, Pitch, Yaw)
𝐼𝑋𝑋,𝐼𝑌𝑌,𝐼𝑍𝑍	The rotational inertias